Feature Papers in Vehicular Sensing.

This Special Issue compiles papers submitted by the Editorial Board Members of the Vehicular Sensing Section and outstanding scholars in this field [...].

The Role of Citizen Science in Promoting Health Equity.

While there are many definitions of citizen science, the term usually refers to the participation of the general public in the scientific process in collaboration with professional scientists. Citizen scientists have been engaged to promote health equity, especially in the areas of environmental contaminant exposures, physical activity, and healthy eating. Citizen scientists commonly come from communities experiencing health inequities and have collected data using a range of strategies and technologies, such as air sensors, water quality kits, and mobile applications. On the basis of our review, and to advance the field of citizen science to address health equity, we recommend (a) expanding the focus on topics important for health equity, (b) increasing the diversity of people serving as citizen scientists, (c) increasing the integration of citizen scientists in additional research phases, (d) continuing to leverage emerging technologies that enable citizen scientists to collect data relevant for health equity, and (e) strengthening the rigor of methods to evaluate impacts on health equity.

Sensors for Road Vehicles of the Future.

New vehicles include several systems that improve their safety, comfort, and performance [...].

Perception, Positioning and Decision-Making Algorithms Adaptation for an Autonomous Valet Parking System Based on Infrastructure Reference Points Using One Single LiDAR.

Autonomous parking valet systems improve users' comfort, helping with the task of searching for a parking space and parking maneuvering; and due to the simple infrastructure design and low speeds, this maneuver is quite feasible for automated vehicles. Various demonstrations have been performed in both closed parking and in open air parking; scenarios that allow the use of specific technological tools for navigation and searching for a parking space. However, there are still challenges. The purpose of this paper was the integration of perception, positioning, decision-making, and maneuvering algorithms for the control of an autonomous vehicle in a parking lot with the support of a single LiDAR sensor, and with no additional sensors in the infrastructure. Based on a digital map, which was as simplified as possible, the driver can choose the range of parking spaces in which the vehicle must look for a space. From that moment on, the vehicle moves, looking for free places until an available one in the range selected by the driver is found. Then, the vehicle performs the parking maneuver, choosing between two alternatives to optimize the required space. Tests in a real parking lot, with spaces covered with metallic canopies, showed an accurate behavior.

MAPK and GSK3/ß-TRCP-mediated degradation of the maternal Ets domain transcriptional repressor Yan/Tel controls the spatial expression of nodal in the sea urchin embryo.

In the sea urchin embryo, specification of the dorsal-ventral axis critically relies on the spatially restricted expression of nodal in the presumptive ventral ectoderm. The ventral restriction of nodal expression requires the activity of the maternal TGF-ß ligand Panda but the mechanism by which Panda restricts nodal expression is unknown. Similarly, what initiates expression of nodal in the ectoderm and what are the mechanisms that link patterning along the primary and secondary axes is not well understood. We report that in Paracentrotus lividus, the activity of the maternally expressed ETS-domain transcription factor Yan/Tel is essential for the spatial restriction of nodal. Inhibiting translation of maternal yan/tel mRNA disrupted dorsal-ventral patterning in all germ layers by causing a massive ectopic expression of nodal starting from cleavage stages, mimicking the phenotype caused by inactivation of the maternal Nodal antagonist Panda. We show that like in the fly or in vertebrates, the activity of sea urchin Yan/Tel is regulated by phosphorylation by MAP kinases. However, unlike in the fly or in vertebrates, phosphorylation by GSK3 plays a central role in the regulation Yan/Tel stability in the sea urchin. We show that GSK3 phosphorylates Yan/Tel in vitro at two different sites including a ß-TRCP ubiquitin ligase degradation motif and a C-terminal Ser/Thr rich cluster and that phosphorylation of Yan/Tel by GSK3 triggers its degradation by a ß-TRCP/proteasome pathway. Finally, we show that, Yan is epistatic to Panda and that the activity of Yan/Tel is required downstream of Panda to restrict nodal expression. Our results identify Yan/Tel as a central regulator of the spatial expression of nodal in Paracentrotus lividus and uncover a key interaction between the gene regulatory networks responsible for patterning the embryo along the dorsal-ventral and animal-vegetal axes.

Inferring the Driver's Lane Change Intention through LiDAR-Based Environment Analysis Using Convolutional Neural Networks.

Most of the tactic manoeuvres during driving require a certain understanding of the surrounding environment from which to devise our future behaviour. In this paper, a Convolutional Neural Network (CNN) approach is used to model the lane change behaviour to identify when a driver is going to perform this manoeuvre. To that end, a slightly modified CNN architecture adapted to both spatial (i.e., surrounding environment) and non-spatial (i.e., rest of variables such as relative speed to the front vehicle) input variables. Anticipating a driver's lane change intention means it is possible to use this information as a new source of data in wide range of different scenarios. One example of such scenarios might be the decision making process support for human drivers through Advanced Driver Assistance Systems (ADAS) fed with the data of the surrounding cars in an inter-vehicular network. Another example might even be its use in autonomous vehicles by using the data of a specific driver profile to make automated driving more human-like. Several CNN architectures have been tested on a simulation environment to assess their performance. Results show that the selected architecture provides a higher degree of accuracy than random guessing (i.e., assigning a class randomly for each observation in the data set), and it can capture subtle differences in behaviour between different driving profiles.

p38 MAPK as an essential regulator of dorsal-ventral axis specification and skeletogenesis during sea urchin development: a re-evaluation.

Dorsal-ventral axis formation in the sea urchin embryo relies on the asymmetrical expression of the TGFß Nodal. The p38-MAPK pathway has been proposed to be essential for dorsal-ventral axis formation by acting upstream of nodal expression. Here, we report that, in contrast to previous studies that used pharmacological inhibitors of p38, manipulating the activity of p38 by genetic means has no obvious impact on morphogenesis. Instead, we discovered that p38 inhibitors strongly disrupt specification of all germ layers by blocking signalling from the Nodal receptor and by interfering with the ERK pathway. Strikingly, while expression of a mutant p38 that is resistant to SB203580 did not rescue dorsal-ventral axis formation or skeletogenesis in embryos treated with this inhibitor, expression of mutant Nodal receptors that are resistant to SB203580 fully restored nodal expression in SB203580-treated embryos. Taken together, these results establish that p38 activity is not required for dorsal-ventral axis formation through nodal expression nor for skeletogenesis. Our results prompt a re-evaluation of the conclusions of several recent studies that linked p38 activity to dorsal-ventral axis formation and to patterning of the skeleton.

Driver Monitoring for a Driver-Centered Design and Assessment of a Merging Assistance System Based on V2V Communications.

Merging is one of the most critical scenarios that can be found in road transport. In this maneuver, the driver is subjected to a high mental load due to the large amount of information he handles, while making decisions becomes a crucial issue for their safety and those in adjacent vehicles. In previous works, it was studied how the merging maneuver affected the cognitive load required for driving by means of an eye tracking system, justifying the proposal of a driver assistance system for the merging maneuver on highways. This paper presents a merging assistance system based on communications between vehicles, which allows vehicles to share internal variables of position and speed and is implemented on a mobile device located inside the vehicle. The system algorithm decides where and when the vehicle can start the merging maneuver in safe conditions and provides the appropriate information to the driver. Parameters and driving simulator tests are used for the interface definition to develop the less intrusive and demanding one. Afterward, the system prototype was installed in a real passenger car and tests in real scenarios were conducted with several drivers to assess usability and mental load. Comparisons among alternative solutions are shown and effectiveness is assessed.

Perception Sensors for Road Applications.

New assistance systems and the applications of autonomous driving of road vehicles imply ever-greater requirements for perception systems that are necessary in order to increase the robustness of decisions and to avoid false positives or false negatives [...].

Implementation of a Potential Field-Based Decision-Making Algorithm on Autonomous Vehicles for Driving in Complex Environments.

Autonomous driving is undergoing huge developments nowadays. It is expected that its implementation will bring many benefits. Autonomous cars must deal with tasks at different levels. Although some of them are currently solved, and perception systems provide quite an accurate and complete description of the environment, high-level decisions are hard to obtain in challenging scenarios. Moreover, they must comply with safety, reliability and predictability requirements, road user acceptance, and comfort specifications. This paper presents a path planning algorithm based on potential fields. Potential models are adjusted so that their behavior is appropriate to the environment and the dynamics of the vehicle and they can face almost any unexpected scenarios. The response of the system considers the road characteristics (e.g., maximum speed, lane line curvature, etc.) and the presence of obstacles and other users. The algorithm has been tested on an automated vehicle equipped with a GPS receiver, an inertial measurement unit and a computer vision system in real environments with satisfactory results.

Short and long term response to argon plasma therapy for hemorrhagic radiation proctitis.

INTRODUCTION: hemorrhagic radiation proctitis appears secondary to radiotherapy. Argon plasma is an effective, safe and easy-to-use technique with a relatively low cost. OBJECTIVES: to describe the short- and long-term response to argon plasma therapy in patients with hemorrhagic radiation proctitis. METHOD: an observational prospective study was performed of a series of 82 patients with hemorrhagic radiation proctitis, attended at the National Center for Minimally Invasive Surgery between 2010 and 2016. Summary measurements and a comparison of means (paired Student's t-test) for the final and initial hemoglobin levels were used. In addition, the Kaplan-Meier method was used to determine the rectal bleeding recurrence free time. RESULTS: in the present study, 54.9% of cases required 1-3 argon sessions and 86.6% required 1-5 sessions to resolve the bleeding, with a median of 3.0 sessions. In addition, 4.9% of patients had proctalgia as a complication. There was an improvement in hemoglobin of 2 g/dl. Rectal bleeding recurrence occurred in 8.5% of the patients during the nine months after therapy. Bleeding recurrence free time at three, six and nine months was 98.8%, 96.3% and 91.5%, respectively. Short-term therapy response was observed in all patients and long-term response after one year of follow-up was 91.5%. CONCLUSION: argon plasma coagulation shows a good short- and long-term response with few therapy sessions and a low rate of complications in patients with chronic hemorrhagic radiation proctitis.

Definition of an Enhanced Map-Matching Algorithm for Urban Environments with Poor GNSS Signal Quality.

Vehicle positioning is a key factor for numerous information and assistance applications that are included in vehicles and for which satellite positioning is mainly used. However, this positioning process can result in errors and lead to measurement uncertainties. These errors come mainly from two sources: errors and simplifications of digital maps and errors in locating the vehicle. From that inaccurate data, the task of assigning the vehicle's location to a link on the digital map at every instant is carried out by map-matching algorithms. These algorithms have been developed to fulfil that need and attempt to amend these errors to offer the user a suitable positioning. In this research; an algorithm is developed that attempts to solve the errors in positioning when the Global Navigation Satellite System (GNSS) signal reception is frequently lost. The algorithm has been tested with satisfactory results in a complex urban environment of narrow streets and tall buildings where errors and signal reception losses of the GPS receiver are frequent.

Vision-Based Steering Control, Speed Assistance and Localization for Inner-City Vehicles.

Autonomous route following with road vehicles has gained popularity in the last few decades. In order to provide highly automated driver assistance systems, different types and combinations of sensors have been presented in the literature. However, most of these approaches apply quite sophisticated and expensive sensors, and hence, the development of a cost-efficient solution still remains a challenging problem. This work proposes the use of a single monocular camera sensor for an automatic steering control, speed assistance for the driver and localization of the vehicle on a road. Herein, we assume that the vehicle is mainly traveling along a predefined path, such as in public transport. A computer vision approach is presented to detect a line painted on the road, which defines the path to follow. Visual markers with a special design painted on the road provide information to localize the vehicle and to assist in its speed control. Furthermore, a vision-based control system, which keeps the vehicle on the predefined path under inner-city speed constraints, is also presented. Real driving tests with a commercial car on a closed circuit finally prove the applicability of the derived approach. In these tests, the car reached a maximum speed of 48 km/h and successfully traveled a distance of 7 km without the intervention of a human driver and any interruption.

Intravehicular, Short- and Long-Range Communication Information Fusion for Providing Safe Speed Warnings.

Inappropriate speed is a relevant concurrent factor in many traffic accidents. Moreover, in recent years, traffic accidents numbers in Spain have fallen sharply, but this reduction has not been so significant on single carriageway roads. These infrastructures have less equipment than high-capacity roads, therefore measures to reduce accidents on them should be implemented in vehicles. This article describes the development and analysis of the impact on the driver of a warning system for the safe speed on each road section in terms of geometry, the presence of traffic jams, weather conditions, type of vehicle and actual driving conditions. This system is based on an application for smartphones and includes knowledge of the vehicle position via Ground Positioning System (GPS), access to intravehicular information from onboard sensors through the Controller Area Network (CAN) bus, vehicle data entry by the driver, access to roadside information (short-range communications) and access to a centralized server with information about the road in the current and following sections of the route (long-range communications). Using this information, the system calculates the safe speed, recommends the appropriate speed in advance in the following sections and provides warnings to the driver. Finally, data are sent from vehicles to a server to generate new information to disseminate to other users or to supervise drivers' behaviour. Tests in a driving simulator have been used to define the system warnings and Human Machine Interface (HMI) and final tests have been performed on real roads in order to analyze the effect of the system on driver behavior.

Barriers to HCV treatment in the era of triple therapy: a prospective multi-centred study in clinical practice.

BACKGROUND & AIMS: (i) To describe the demographic, clinical, virological and histological characteristics of the patients undergoing evaluation for indication of triple therapy against hepatitis C virus genotype 1, and to identify the reasons why candidate patients are excluded; and (ii) to evaluate the characteristics of the healthcare environment related to treatment. METHODS: Observational, prospective and multi-centred study involving 16 hospitals of Spain. Data were collected on 1122 patients receiving attention in the outpatient clinics between June and December 2012. RESULTS: Of the 1122 patients evaluated, 769 were finally included in this study; 27% (211/769) had contraindications to the therapy. Of those without contraindications, 54% (301/558) did not receive the treatment, and so, only about a third of the patients (33%-257/769) underwent therapy. The reasons for not initiating therapy were as follows: patient refusal (30%), mild disease/awaiting new treatments (34%), restrictions by the health service (30%), other reasons (6%). In univariate analyses, the probability of receiving treatment was related to: age <60 years, male gender, high education level, advanced fibrosis, having had previous treatment, being assessed in a centre of excellence. In multivariate analyses, the factors independently related to the probability of receiving treatment were as follows: high education level of the patients (P = 0.004), advanced fibrosis (P < 0.001) and centres of excellence (P = 0.009). CONCLUSION: Despite the high efficacy of triple therapy, only a small proportion of patients receive the treatment. The causes related to non-treatment depend on patient factors, disease stage and characteristics of the health-service provision.

Rapid treatment of mild acne with a novel skin care system containing 1% salicylic acid, 10% buffered glycolic acid, and botanical ingredients.

The biggest hurdle in the treatment of acne vulgaris is patient non-compliance that is due in large part to poor tolerability to common acne medications. As such, new acne treatments must be developed that balance good anti-acne efficacy with excellent tolerability in order to ensure patient adherence and by extension ensure good clinical outcomes. The goal of the present study was to determine the tolerability and efficacy of a novel skin care system, composed of a cleanser, containing 1% salicylic acid and botanical ingredients, and a treatment gel, containing 1% salicylic acid, 10% buffered glycolic acid and botanical ingredients for the treatment of mild acne. In this single-center, open-label clinical study, 25 male and female volunteers used the test cleanser and test gel twice daily over six weeks. Tolerability assessments showed that the skin care regimen was very well tolerated by all study volunteers. Acne severity was significantly reduced by two acne grades at six weeks. Inflammatory lesion counts were significantly reduced, on average, by 59.06% (P ≤ 0.0001), 91.62% (P ≤ 0.0001), 90.85% (P ≤ 0.0001) and by 98.55% (P ≤ 0.0001) at weeks 1, 2, 4, and 6, respectively. Non-inflammatory lesion counts were reduced, on average, by 13.54% (ns), 38.95% (P ≤ 0.0001), 44.48% (P ≤ 0.0001), and by 56.10% (P ≤ 0.0001) at weeks 1, 2, 4, and 6, respectively. Standardized photography also demonstrated a progressive reduction in acne lesions over time. In conclusion, results of the present study suggest that the tested skin care regimen offers rapid acne clearance and excellent tolerability that together may help to improve patient adherence as well as treatment outcome.

Vehicle tracking for an evasive manoeuvres assistant using low-cost ultrasonic sensors.

Many driver assistance systems require knowledge of the vehicle environment. As these systems are increasing in complexity and performance, this knowledge of the environment needs to be more complete and reliable, so sensor fusion combining long, medium and short range sensors is now being used. This paper analyzes the feasibility of using ultrasonic sensors for low cost vehicle-positioning and tracking in the lane adjacent to the host vehicle in order to identify free areas around the vehicle and provide information to an automatic avoidance collision system that can perform autonomous braking and lane change manoeuvres. A laser scanner is used for the early detection of obstacles in the direction of travel while two ultrasonic sensors monitor the blind spot of the host vehicle. The results of tests on a test track demonstrate the ability of these sensors to accurately determine the kinematic variables of the obstacles encountered, despite a clear limitation in range.

Amplified spontaneous emission in graded-index polymer optical fibers: theory and experiment.

In this work we analyze experimentally and theoretically the properties of amplified spontaneous emission (ASE) in a rhodamine-6G-doped graded-index polymer optical fiber. A theoretical model based on the laser rate equations describes the ASE features successfully. The dependence of the ASE threshold and efficiency on fiber length is analyzed in detail.

An optical fiber bundle sensor for tip clearance and tip timing measurements in a turbine rig.

When it comes to measuring blade-tip clearance or blade-tip timing in turbines, reflective intensity-modulated optical fiber sensors overcome several traditional limitations of capacitive, inductive or discharging probe sensors. This paper presents the signals and results corresponding to the third stage of a multistage turbine rig, obtained from a transonic wind-tunnel test. The probe is based on a trifurcated bundle of optical fibers that is mounted on the turbine casing. To eliminate the influence of light source intensity variations and blade surface reflectivity, the sensing principle is based on the quotient of the voltages obtained from the two receiving bundle legs. A discrepancy lower than 3% with respect to a commercial sensor was observed in tip clearance measurements. Regarding tip timing measurements, the travel wave spectrum was obtained, which provides the average vibration amplitude for all blades at a particular nodal diameter. With this approach, both blade-tip timing and tip clearance measurements can be carried out simultaneously. The results obtained on the test turbine rig demonstrate the suitability and reliability of the type of sensor used, and suggest the possibility of performing these measurements in real turbines under real working conditions.